CN110087188A - The virtual finger print data base construction method of indoor positioning based on RFID label tag - Google Patents
The virtual finger print data base construction method of indoor positioning based on RFID label tag Download PDFInfo
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- CN110087188A CN110087188A CN201910341233.0A CN201910341233A CN110087188A CN 110087188 A CN110087188 A CN 110087188A CN 201910341233 A CN201910341233 A CN 201910341233A CN 110087188 A CN110087188 A CN 110087188A
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- 230000004807 localization Effects 0.000 claims description 5
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
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- G06K7/0008—General problems related to the reading of electronic memory record carriers, independent of its reading method, e.g. power transfer
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- H—ELECTRICITY
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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Abstract
The present invention relates to wireless location technology fields, it is proposed a kind of virtual finger print data base construction method of the indoor positioning based on RFID label tag, the following steps are included: in indoor deployment RFID reader to be positioned, RFID label tag is carried on the arm of cruise robot, and cruise route and sampled point are then arranged according to the deployed position of RFID reader；Robot is mobile according to cruise route, and when reaching sampled point, RFID label tag returns to radiofrequency signal to RFID reader；RFID reader sends signal strength data in indoor locating system and saves；The different directions that RFID label tag is moved to same sampled point are carried out multiple repairing weld by mobile arm by robot；Then robot repeats the above steps according to mobile sampled point of cruise route, when robot completes the sampling of all sampled points, all data complete the building of virtual fingerprint database to indoor locating system based on the received.The present invention can obtain grain refined data, meet the highdensity requirement of indoor sampled point, while improving sampling efficiency.
Description
Technical field
The present invention relates to wireless location technology fields, empty more particularly, to a kind of indoor positioning based on RFID label tag
Quasi- finger print data base construction method.
Background technique
Radio Frequency Identification Technology (Radio Frequency Identification Technique, RFID) is widely transported
For in the industries such as logistic storage, public service, smart home, smart city, according to different requirements, RFID reader can be with
The a variety of metrical informations for obtaining label, there are commonly: time, phase, angle and signal strength indication (RSS) etc..
With the development of Internet of Things, a large amount of experts and scholars put into the research of indoor locating system, and have developed a variety of
Indoor positioning algorithms.Wherein, the localization method based on fingerprint database has the characteristics that be relatively low cost and easy to realize, specifically
Ground needs to acquire multiple signals for being layed in indoor different location RFID electronic label using being fixed on indoor reader, and
Virtual fingerprint database is stored in by each electronic tag physical location and for signal data composition fingerprint.When indoor positioning region
When there is label to be positioned, reader receives the signal of label to be positioned, by location algorithm using fingerprint database complete to
Position the location estimation of label.However, the positioning accuracy of the localization method based on fingerprint database is largely dependent upon void
The density and signal accuracy of fingerprint sampled point in quasi- fingerprint database, and a large amount of fingerprint sampled point needs to expend largely
Manpower and time cost.
In addition, exempting from portion by each reference position acquisition fingerprint database also by artificial carrying RFID electronic label
Management side case also has the mode cruised using robot to acquire.But these schemes need fixed sample point, each sampled point is also only
The fingerprint of the position is acquired, the finger print information of other positions can not be acquired.
Summary of the invention
The present invention be overcome positioning accuracy described in the above-mentioned prior art excessively rely on sampling point density and signal accuracy,
The defect that the finger print data of fixed sample point position can only be acquired provides a kind of virtual fingerprint of the indoor positioning based on RFID label tag
Database construction method does not need to dispose RFID label tag indoors, while meeting indoor positioning to the highdensity requirement of sampled point,
It can obtain the position data of grain refined.
In order to solve the above technical problems, technical scheme is as follows:
A kind of virtual finger print data base construction method of indoor positioning based on RFID label tag, comprising the following steps:
S1: disposing RFID reader in the environment to indoor positioning, in the arm of the robot for sampling of cruising
RFID passive electronic label is carried, then the layout according to RFID reader in the environment to indoor positioning, robot is set
Indoor cruise route and sampled point；
S2: robot is mobile according to indoor cruise route, and when robot reaches sampled point, RFID passive electronic label is received
The request signal of RFID reader simultaneously returns to radiofrequency signal；
S3:RFID reader receives the signal strength indication of RFID passive electronic label reflection, then that current RFID is passive
The position of electronic tag and the signal strength vector being made of the signal strength indication that all RFID readers receive are sent to room
It is saved in interior positioning system；
S4: robot is moved to the default of same sampled point by flexible or full wind-up, by RFID passive electronic label
Several directions, when robot by RFID passive electronic label stablize in a direction, RFID passive electronic label receive
The request signal of RFID reader simultaneously returns to radiofrequency signal, then branches to S3 step, until RFID passive electronic label is pre-
If several directions complete radiofrequency signal transmitting；
S5: robot is mobile according to indoor cruise route, reaches time sampled point, and RFID passive electronic label receives RFID
The request signal of reader simultaneously returns to radiofrequency signal, then branches to S3 step, until robot complete cruise route sampling,
All data complete the building of virtual fingerprint database to indoor locating system based on the received.
In the technical program, RFID reader only need to be disposed in the environment to indoor positioning, does not need to dispose
RFID electronic reference label, the arm of the robot by the way that RFID passive electronic label to be mounted in the sampling that is used to cruise, so
Cruise is carried out in the environment to indoor positioning by robot afterwards and realizes sampling.During cruising sampling, RFID first
Reader launches outward electromagnetic wave signal, and the magnetic field of label is activated when RFID passive electronic label receives electromagnetic wave signal,
And label information is reflected into RFID reader, the RFID reader mark ready to receive reflected by the RIFD passive electronic label
Sign information and signal intensity value.In addition, robot drives the movement of RFID passive electronic label by rotation and telescopic arm, make
Robot can acquire multiple groups signal strength data in each sampled point, to realize the data of acquisition more grain refined.
Preferably, robot is provided with sensor, and set sensor includes accelerometer, earth magnetism, gyroscope, laser
Radar.Robot realizes environment of the building to indoor positioning by the accelerometer of setting, earth magnetism, gyroscope, laser radar
The discrimination in figure and direction.
Preferably, robot passes through positioning immediately and map structuring (Simultaneous during cruise
Localization and Mapping, SLAM) method progress autonomous positioning, then send current autonomous positioning result to
In indoor locating system.
Preferably, in the S3 step, indoor locating system calculates the positioning result and machine of current RFID passive electronic label
Error between the autonomous positioning result of device people, and whether error in judgement is more than preset threshold value, when error is greater than preset threshold
When value, indoor locating system sends abnormal signal and error information to robot, and robot resets cruise road according to error
Then line and sampled point jump and execute S2 step.
Preferably, the cruising manner of robot includes fixed route mode and random path mode, wherein fixed route mould
Formula is that sampled point is rationally arranged according to doors structure system；Random path mode is according to position error size, in sampling error
Intensive sampled point is arranged in biggish region.
Preferably, in S4 step, the direction of rotation by presetting robot makes robot in the rotation side of each sampled point
To identical, make the virtual fingerprint database of building that there is systematicness.
Preferably, after completing the building of virtual fingerprint database, robot sporadically carries RFID passive electronic label
Any position in the environmental area to indoor positioning simultaneously executes S2~S5 step, indoor locating system RFID based on the received
The position of passive electronic label and the signal strength vector being made of the signal strength indication that all RFID readers receive, to void
Quasi- fingerprint database carries out incremental update.
Compared with prior art, the beneficial effect of technical solution of the present invention is:
(1) pass through and dispose RFID reader indoors, and RFID passive electronic label is carried using robot and is patrolled
Boat sampling can exempt the step of disposing RFID electronic label indoors, meet the highdensity requirement of indoor sampled point, mention simultaneously
High sampling efficiency；
(2) the RFID passive electronic label carried is adjusted in the direction of same sampled point by robot, realized same
The adjacent position of sampled point, which carries out multiple repairing weld, can effectively improve positioning accuracy to obtain grain refined data；
(3) robot not timing stays in any position of the RFID passive electronic label in the environmental area to indoor positioning
Incremental update is carried out to virtual fingerprint database, can guarantee the validity of virtual fingerprint database.
Detailed description of the invention
Fig. 1 is the flow chart of the virtual finger print data base construction method of the indoor positioning based on RFID label tag of the present embodiment.
Fig. 2 is the schematic diagram of cruise route and sampled point in robot chamber in the present embodiment.
Specific embodiment
The attached figures are only used for illustrative purposes and cannot be understood as limitating the patent；
In order to better illustrate this embodiment, the certain components of attached drawing have omission, zoom in or out, and do not represent actual product
Size；
To those skilled in the art, it is to be understood that certain known features and its explanation, which may be omitted, in attached drawing
's.
The following further describes the technical solution of the present invention with reference to the accompanying drawings and examples.
As shown in Figure 1, for the virtual finger print data base construction method of indoor positioning based on RFID label tag in the present embodiment
Flow chart.
The virtual finger print data base construction method of the indoor positioning based on RFID label tag of the present embodiment the following steps are included:
Step 1: RFID reader is disposed in the environment to indoor positioning, in the arm of the robot for sampling of cruising
Upper carrying RFID passive electronic label, then the layout according to RFID reader in the environment to indoor positioning, is arranged machine
Cruise route and sampled point in people room.As shown in Fig. 2, for cruise route in robot chamber in the present embodiment and sampled point
Schematic diagram.
Step 2: robot is mobile according to indoor cruise route, when robot reaches sampled point, RFID passive electronic label
It receives the request signal of RFID reader and returns to radiofrequency signal.
Step 3:RFID reader receives the signal strength indication of RFID passive electronic label reflection, and then RFID reader will
The position of current RFID passive electronic label and the signal strength being made of the signal strength indication that all RFID readers receive
Vector is sent in indoor locating system and is saved.
Step 4: RFID passive electronic label is moved to the pre- of same sampled point by flexible or full wind-up by robot
If several directions, when robot by RFID passive electronic label stablize in a direction, RFID passive electronic label connects
It receives the request signal of RFID reader and returns to radiofrequency signal, step 3 is then branched to, until RFID passive electronic label is pre-
If several directions complete radiofrequency signal transmitting.
In the present embodiment, robot reaches direction that each sampled point is rotated and is fixed by default, be east, south,
West, north four direction.
Step 5: robot is mobile according to indoor cruise route, reaches time sampled point, and RFID passive electronic label receives
The request signal of RFID reader simultaneously returns to radiofrequency signal, then branches to step 3, until robot completes adopting for cruise route
Sample, indoor locating system are the building for completing virtual fingerprint database.
In the present embodiment, the robot for sampling of cruising is provided with sensor, wherein sensor includes acceleration
Meter, earth magnetism, gyroscope, laser radar.Robot realizes building indoor map by set sensor, then passes through SLAM
Method carries out autonomous positioning.
In the step 3 of the present embodiment, indoor locating system calculate current RFID passive electronic label positioning result and
Error between the autonomous positioning result of robot, and whether error in judgement is more than preset threshold value, when error is greater than preset
When threshold value, indoor locating system sends abnormal signal to robot and error information, robot reset cruise according to error
Then route and sampled point jump and execute step 2.
In the present embodiment, the cruising manner of robot includes fixed route mode and random path mode, wherein specifying
Route mode is that sampled point is rationally arranged according to doors structure system, and random path mode is to be sampled according to robot in cruise
The size setting cruise road of error between the Current electronic tag location result judged in journey and robot autonomous localization result
Intensive sampled point is arranged in the biggish region of error in line.
In the present embodiment, after completing the building of virtual fingerprint database, RFID passive electrical is carried in robot not timing
Any position of the subtab in the environmental area to indoor positioning carries out cruise sampling and executes step 2 to step 5, and interior is fixed
Position the system position of RFID passive electronic label and the signal strength indication group received by all RFID readers based on the received
At signal strength vector, for virtual fingerprint database carry out incremental update, avoid the positional number in virtual finger print data
According to failure.
In the specific implementation process, robot carry RFID passive electronic label be deployed with RFID reader it is indoor into
Row cruise.Robot successively parks in the sampled point of setting according to cruise route, and RFID reader launches outward electromagnetic wave signal,
The RFID passive electronic label carried in robot activates the magnetic field of label when receiving electromagnetic wave signal, and the information of label is anti-
It is mapped in RFID reader, RFID reader receives the information of RFID passive electronic label reflection and constructed according to signal strength indication
Virtual fingerprint database.In addition, when robot each sampled point park when, by rotation and telescopic arm drive RFID without
Source electronic tag is mobile, and RFID passive electronic label can be moved to several preset sides of same sampled point by robot
To, allow robot each sampled point park when acquire multiple groups signal strength data.Compared in each sampled point
One group of signal strength data is only acquired, the present embodiment can acquire the data of more grain refined, and can be improved the effect of data acquisition
Rate.
Carried out in cruise sampling process in robot, robot pass through be arranged in internal sensor using SLAM method into
It sends autonomous positioning result in indoor locating system after row autonomous positioning, indoor locating system is according to the autonomous fixed of robot
Electronic tag positional information calculation its error that position result and RFID reader return, and whether error in judgement is greater than preset threshold
Value indicates that the wrong needs of current positioning result re-start sampling, indoor locating system when error is greater than preset threshold value
Abnormal signal is sent to robot and error information, robot reset cruise route and sampled point according to error, then
2 are re-execute the steps to step 5, incremental update is carried out to virtual fingerprint database, to improve the standard of virtual fingerprint database
Exactness effectively improves indoor position accuracy.
After the building for completing virtual fingerprint database, robot sporadically carries RFID passive electronic label indoors
Any position in environmental area carries out cruise sampling, executes step 2 to step 5, RFID reader is passive by the RFID of return
The location information and signal strength data of electronic tag are sent in indoor locating system, and indoor locating system is to virtual fingerprint number
It is updated according to library, to guarantee the validity of virtual fingerprint database, avoids the expired mistake of data in virtual fingerprint database
Effect.
The same or similar label correspond to the same or similar components；
The terms describing the positional relationship in the drawings are only for illustration, should not be understood as the limitation to this patent；
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
Made any modifications, equivalent replacements, and improvements etc., should be included in the claims in the present invention within the spirit and principle of invention
Protection scope within.
Claims (7)
1. a kind of virtual finger print data base construction method of indoor positioning based on RFID label tag, which is characterized in that including following step
It is rapid:
S1: disposing radio-frequency identification reader in the environment to indoor positioning, in the arm of the robot for sampling of cruising
Radio frequency identification passive electronic label is carried, then the layout according to radio-frequency identification reader in the environment to indoor positioning, if
Set cruise route and sampled point in robot chamber；
S2: robot is mobile according to indoor cruise route, and when robot reaches sampled point, radio frequency identification passive electronic label is received
The request signal of radio-frequency identification reader simultaneously returns to radiofrequency signal；
S3: radio-frequency identification reader receives the signal strength indication of radio frequency identification passive electronic label reflection, then by current radio frequency
The signal strength for identifying the position of passive electronic label and being made of the signal strength indication that all radio-frequency identification readers receive
Vector is sent in indoor locating system and is saved；
S4: robot is moved to the default of same sampled point by flexible or full wind-up, by radio frequency identification passive electronic label
Several directions, when robot by radio frequency identification passive electronic label stablize in a direction, radio frequency identification passive electronic
Label receives the request signal of radio-frequency identification reader and emits radiofrequency signal, S3 step is then branched to, until radio frequency identification
Passive electronic label completes the transmitting of radiofrequency signal in several preset directions；
S5: robot is mobile according to indoor cruise route, reaches time sampled point, and radio frequency identification passive electronic label receives radio frequency
It identifies the request signal of reader and returns to radiofrequency signal, then branch to S3 step, until robot completes cruise route
Sampling, all data complete the building of virtual fingerprint database to indoor locating system based on the received.
2. the virtual finger print data base construction method of indoor positioning according to claim 1, it is characterised in that: the robot
It is provided with sensor, the sensor includes accelerometer, earth magnetism, gyroscope, laser radar.
3. the virtual finger print data base construction method of indoor positioning according to claim 2, it is characterised in that: the robot
Autonomous positioning is carried out with map constructing method by positioning immediately during cruise, then sends out current autonomous positioning result
It is sent in indoor locating system.
4. the virtual finger print data base construction method of indoor positioning according to claim 3, it is characterised in that: the S3 step
In, indoor locating system calculate current radio frequency identification passive electronic label positioning result and robot autonomous positioning result it
Between error, and whether error in judgement is more than preset threshold value, and when error is greater than preset threshold value, indoor locating system is to machine
Device human hair send abnormal signal and error information, and robot resets cruise route and sampled point according to error, then jumps
Execute S2 step.
5. the virtual finger print data base construction method of indoor positioning according to claim 4, it is characterised in that: the robot
Cruising manner include fixed route mode and random path mode, the fixed route mode is to close according to doors structure system
Reason setting sampled point；The random path mode is the Current electronic obtained during carrying out indoor positioning according to robot
Error size setting cruise sampled point between tag location result and robot autonomous localization result, in the biggish region of error
Intensive sampled point is set.
6. the virtual finger print data base construction method of indoor positioning according to claim 1, it is characterised in that: the S4 step
In, the direction of rotation by presetting robot keeps robot identical in the direction of rotation of each sampled point.
7. the virtual finger print data base construction method of described in any item indoor positionings according to claim 1~6, it is characterised in that:
After the building for completing the virtual fingerprint database, the robot sporadically carry radio frequency identification passive electronic label to
Any position in the environmental area of indoor positioning carries out cruise sampling and executes S2~S5 step, and indoor locating system is according to connecing
All data received carry out incremental update to virtual fingerprint database.
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| CN110996280A (en) * | 2019-11-06 | 2020-04-10 | 山东大学 | RFID indoor positioning fingerprint database updating system and method |
| CN112040415A (en) * | 2020-08-10 | 2020-12-04 | 国网上海市电力公司 | Indoor hybrid positioning method for transformer substation robot based on WIFI and RFID |
| CN113556680A (en) * | 2021-07-20 | 2021-10-26 | 汤恩智能科技(上海)有限公司 | Fingerprint data processing method, medium and mobile robot |
| CN113596985A (en) * | 2021-07-07 | 2021-11-02 | 湘潭大学 | Signal intensity positioning device and method based on path loss correction model |
| CN113916231A (en) * | 2021-09-28 | 2022-01-11 | 上海浦东发展银行股份有限公司 | Mobile equipment positioning navigation method and device, mobile equipment and storage medium |
| CN114330384A (en) * | 2021-11-24 | 2022-04-12 | 南京邮电大学 | Passive RFID phase information-based arm motion track tracking method |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110996280A (en) * | 2019-11-06 | 2020-04-10 | 山东大学 | RFID indoor positioning fingerprint database updating system and method |
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| CN112040415A (en) * | 2020-08-10 | 2020-12-04 | 国网上海市电力公司 | Indoor hybrid positioning method for transformer substation robot based on WIFI and RFID |
| CN113596985A (en) * | 2021-07-07 | 2021-11-02 | 湘潭大学 | Signal intensity positioning device and method based on path loss correction model |
| CN113596985B (en) * | 2021-07-07 | 2022-05-20 | 湘潭大学 | Signal intensity positioning device and method based on path loss correction model |
| CN113556680A (en) * | 2021-07-20 | 2021-10-26 | 汤恩智能科技(上海)有限公司 | Fingerprint data processing method, medium and mobile robot |
| CN113556680B (en) * | 2021-07-20 | 2023-09-29 | 汤恩智能科技(上海)有限公司 | Fingerprint data processing method, medium and mobile robot |
| CN113916231A (en) * | 2021-09-28 | 2022-01-11 | 上海浦东发展银行股份有限公司 | Mobile equipment positioning navigation method and device, mobile equipment and storage medium |
| CN114330384A (en) * | 2021-11-24 | 2022-04-12 | 南京邮电大学 | Passive RFID phase information-based arm motion track tracking method |
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Application publication date: 20190802 |